#quaternions #vector #matrix #algebra

no-std lin_alg

Vector, matrix, and quaternion operations for general purposes

1 stable release

new 1.0.0 Nov 23, 2024

#255 in Math

Download history 4/week @ 2024-09-23 3/week @ 2024-10-14 2/week @ 2024-11-04 127/week @ 2024-11-18

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MIT license

40KB
963 lines

Vectors and quaternions, and matrices for general purposes, and computer graphics.

Crate Docs

Vector, matrix, and quaternion data structures and operations. Uses f32 or f64 based types.

Example use cases:

  • Computer graphics
  • Biomechanics
  • Structural chemistry and biochemistry
  • Various scientific and engineering applications
  • Aircraft attitude systems and autopilots

Vector and Quaternion types are copy.

For Compatibility with no_std tgts, eg embedded. Use the no_std feature. For computer-graphics functionality (e.g. specialty matrix constructors, and [de]serialization to byte arrays), use the computer_graphics feature.

Do not run cargo fmt on this code base; the macro used to prevent duplication of code between f32 and f64` mules causes undesirable behavior.

For information on practical quaternion operations: Quaternions: A practical guide

See the official documention (Linked above) for details. Below is a brief, impractical syntax overview:

use core::f32::consts::TAU;

use lin_alg::f32::{Vec3, Quaternion};

fn main() {
    let _ = Vec3::new_zero();
    
    let a = Vec3::new(1., 1., 1.);
    let b = Vec3::new(0., -1., 10.);
    
    let c = a + b;
    
    let mut d = a.dot(b);
    
    d.normalize();
    let e = c.to_normalized();
    
    a.magnitude();
    
    let f = a.cross(b);
    
    let g = Quaternion::from_unit_vecs(d, e);
    
    let h = g.inverse();
    
    let k = Quaternion::new_identity();
    
    let l = k.rotate_vec(c);
    
    l.magnitude();
    
    let quaternion = Quaternion::from_axis_angle(Vec3::new(1., 0., 0.), TAU / 16.);
}

Dependencies

~97KB